Made cylinders and spheres act as spheres
This commit is contained in:
FlareMicrosystems
@@ -7,11 +7,6 @@
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#include "strsafe.h"
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#include "Application.h"
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/*typedef struct typPRGP {
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Instance* instance; // Declare member types
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Property ∝
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} PRGP;*/
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std::vector<PROPGRIDITEM> prop;
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std::vector<Instance*> children;
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Instance * selectedInstance;
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@@ -1,130 +1,140 @@
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#include "XplicitNgine/XplicitNgine.h"
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#include "Globals.h"
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#define SIDE (0.5f)
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#define MASS (1.0)
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// constraints
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#define MAX_BODIES 65535
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#define OBJ_DENSITY (5.0)
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#define MAX_CONTACT_PER_BODY 4
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XplicitNgine::XplicitNgine()
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{
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physWorld = dWorldCreate();
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physSpace = dHashSpaceCreate(0);
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contactgroup = dJointGroupCreate(0);
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dWorldSetGravity(physWorld, 0, -0.5, 0);
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//dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
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}
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XplicitNgine::~XplicitNgine()
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{
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dJointGroupDestroy (contactgroup);
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dSpaceDestroy (physSpace);
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dWorldDestroy (physWorld);
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dCloseODE();
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}
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void collisionCallback(void *data, dGeomID o1, dGeomID o2)
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{
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int i,n;
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dBodyID b1 = dGeomGetBody(o1);
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dBodyID b2 = dGeomGetBody(o2);
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if (b1 && b2 && dAreConnected(b1, b2))
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return;
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const int N = 4;
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dContact contact[N];
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n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
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if (n > 0) {
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for (i=0; i<n; i++) {
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contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
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// Define contact surface properties
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contact[i].surface.mu = 0.5;
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contact[i].surface.slip1 = 0.0;
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contact[i].surface.slip2 = 0.0;
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contact[i].surface.soft_erp = 0.8;
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contact[i].surface.soft_cfm = 0.01;
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// Create joints
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dJointID c = dJointCreateContact(
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g_xplicitNgine->physWorld,
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g_xplicitNgine->contactgroup,
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contact+i
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);
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dJointAttach (c,b1,b2);
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}
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}
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}
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void XplicitNgine::createBody(PartInstance* partInstance)
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{
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// calculate collisions
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dSpaceCollide (physSpace,0,&collisionCallback);
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if(partInstance->physBody == NULL)
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{
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// init body
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partInstance->physBody = dBodyCreate(physWorld);
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// Create geom
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partInstance->physGeom[0] = dCreateBox(physSpace,
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partInstance->getSize()[0],
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partInstance->getSize()[1],
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partInstance->getSize()[2]
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);
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// Debug output
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dVector3 result;
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dGeomBoxGetLengths(partInstance->physGeom[0], result);
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printf("[XplicitNgine] Part Geom Size: %.1f, %.1f, %.1f\n",
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result[0],
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result[1],
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result[2]
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);
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// Create rigid body
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printf("[XplicitNgine] Created Geom for PartInstance\n");
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dBodySetPosition(partInstance->physBody,
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partInstance->getPosition()[0],
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partInstance->getPosition()[1],
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partInstance->getPosition()[2]
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);
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Matrix3 g3dRot = partInstance->getCFrame().rotation;
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float rotation [12] = { g3dRot[0][0], g3dRot[0][1], g3dRot[0][2], 0,
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g3dRot[1][0], g3dRot[1][1], g3dRot[1][2], 0,
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g3dRot[2][0], g3dRot[2][1], g3dRot[2][2], 0};
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dBodySetRotation(partInstance->physBody, rotation);
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printf("[XplicitNgine] Created Body for PartInstance\n");
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if(!partInstance->anchored)
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dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
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} else {
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if(partInstance->anchored)
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return;
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const dReal* physPosition = dBodyGetPosition(partInstance->physBody);
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// TODO: Rotation code
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// Probably should be done AFTER we get physics KINDA working!!!
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const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
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//partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));
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#include "XplicitNgine/XplicitNgine.h"
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#include "Globals.h"
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#define SIDE (0.5f)
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#define MASS (1.0)
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// constraints
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#define MAX_BODIES 65535
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#define OBJ_DENSITY (5.0)
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#define MAX_CONTACT_PER_BODY 4
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XplicitNgine::XplicitNgine()
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{
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physWorld = dWorldCreate();
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physSpace = dHashSpaceCreate(0);
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contactgroup = dJointGroupCreate(0);
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dWorldSetGravity(physWorld, 0, -0.5, 0);
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//dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
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}
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XplicitNgine::~XplicitNgine()
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{
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dJointGroupDestroy (contactgroup);
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dSpaceDestroy (physSpace);
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dWorldDestroy (physWorld);
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dCloseODE();
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}
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void collisionCallback(void *data, dGeomID o1, dGeomID o2)
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{
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int i,n;
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dBodyID b1 = dGeomGetBody(o1);
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dBodyID b2 = dGeomGetBody(o2);
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if (b1 && b2 && dAreConnected(b1, b2))
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return;
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const int N = 4;
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dContact contact[N];
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n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
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if (n > 0) {
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for (i=0; i<n; i++) {
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contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
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// Define contact surface properties
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contact[i].surface.mu = 0.5;
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contact[i].surface.slip1 = 0.0;
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contact[i].surface.slip2 = 0.0;
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contact[i].surface.soft_erp = 0.8;
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contact[i].surface.soft_cfm = 0.01;
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// Create joints
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dJointID c = dJointCreateContact(
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g_xplicitNgine->physWorld,
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g_xplicitNgine->contactgroup,
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contact+i
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);
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dJointAttach (c,b1,b2);
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}
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}
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}
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void XplicitNgine::createBody(PartInstance* partInstance)
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{
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// calculate collisions
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dSpaceCollide (physSpace,0,&collisionCallback);
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if(partInstance->physBody == NULL)
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{
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// init body
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partInstance->physBody = dBodyCreate(physWorld);
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// Create geom
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if(partInstance->shape == Enum::Shape::Block)
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{
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partInstance->physGeom[0] = dCreateBox(physSpace,
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partInstance->getSize()[0],
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partInstance->getSize()[1],
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partInstance->getSize()[2]
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);
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dVector3 result;
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dGeomBoxGetLengths(partInstance->physGeom[0], result);
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printf("[XplicitNgine] Part Geom Size: %.1f, %.1f, %.1f\n",
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result[0],
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result[1],
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result[2]
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);
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}
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else
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{
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partInstance->physGeom[0] = dCreateSphere(physSpace, partInstance->getSize()[0]/2);
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}
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// Debug output
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// Create rigid body
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printf("[XplicitNgine] Created Geom for PartInstance\n");
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dBodySetPosition(partInstance->physBody,
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partInstance->getPosition()[0],
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partInstance->getPosition()[1],
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partInstance->getPosition()[2]
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);
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Matrix3 g3dRot = partInstance->getCFrame().rotation;
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float rotation [12] = { g3dRot[0][0], g3dRot[0][1], g3dRot[0][2], 0,
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g3dRot[1][0], g3dRot[1][1], g3dRot[1][2], 0,
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g3dRot[2][0], g3dRot[2][1], g3dRot[2][2], 0};
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dBodySetRotation(partInstance->physBody, rotation);
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printf("[XplicitNgine] Created Body for PartInstance\n");
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if(!partInstance->anchored)
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dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
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} else {
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if(partInstance->anchored)
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return;
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const dReal* physPosition = dBodyGetPosition(partInstance->physBody);
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// TODO: Rotation code
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// Probably should be done AFTER we get physics KINDA working!!!
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const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
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//partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));
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partInstance->setCFrame(CoordinateFrame(
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Matrix3(physRotation[0],physRotation[1],physRotation[2],
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physRotation[4],physRotation[5],physRotation[6],
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physRotation[8],physRotation[9],physRotation[10]),
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Vector3(physPosition[0], physPosition[1], physPosition[2])));
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}
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dWorldQuickStep(physWorld,0.05);
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dJointGroupEmpty(contactgroup);
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Vector3(physPosition[0], physPosition[1], physPosition[2])));
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}
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dWorldQuickStep(physWorld,0.05);
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dJointGroupEmpty(contactgroup);
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}
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